Handling robot

ABSTRACT

A handling robot used in a field of warehouse logistics comprises a mobile chassis, and a storage shelf. The storage shelf is mounted to the mobile chassis and comprises a plurality of layered plate components distributed at different heights. The handling robot further comprises a handling device configured to transport a material to a layered plate of the plurality of layered plate components, and a lift component configured to drive the handling device to lift relative to the storage shelf.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of a U.S. patentapplication Ser. No. 17/681,174 filed on Feb. 25, 2022, which is acontinuation-in-part of U.S. patent application Ser. No. 17/390,667,filed on Jul. 30, 2021, which is a continuation of InternationalApplication No. PCT/CN2020/073606 filed on Jan. 21, 2020, which claimspriority to Chinese Patent Application No. 201920181799.7 filed on Feb.1, 2019, the above applications are hereby incorporated by reference intheir entireties.

TECHNICAL FIELD

The present application relates to the field of intelligent warehousing,and in particular to a handling robot.

BACKGROUND

Intelligent warehousing is one of links of the logistics process, theapplication of intelligent warehousing ensures the speed and accuracy ofdata input in each link of materials warehouse management, ensures thatan enterprise timely and accurately grasps real data of inventories, andreasonably maintains and controls the inventory of the enterprise. Byscientific coding, it is also convenient to manage for example batchesand shelf lives of inventory items. With the storage site managementfunction of system, it is possible to timely grasp current locations ofall inventory items, which is conducive to improving the workingefficiency of warehouse management.

Handling robots play an important role in intelligent warehousing, andcan replace manual handling of materials. However, in the process ofrealizing the present application, the inventor found that: currenthandling robots transport a small amount of materials each time.

SUMMARY

A main technical problem to be solved by embodiments of the presentapplication is to provide a handling robot that can load a largequantity of materials.

In order to solve the above technical problem, embodiments of thepresent application provide the following technical solutions.

A handling robot is provided, and the handling robot includes a mobilechassis, a storage shelf, a handling device and a lift component. Thestorage shelf is mounted to the mobile chassis, and includes a pluralityof layered plate components distributed at different heights, eachlayered plate component including a layered plate for placing amaterial. The handling device includes a handling assembly. The handlingassembly is configured to handle a material to a layered plate at thesame height as the handling assembly, or to handle a material out of alayered plate at the same height as the handling assembly. The liftcomponent is configured to drive the handling device to lift relative tothe storage shelf so that the handling assembly is at the same height asone layered plate.

Preferably, the mobile chassis includes a base and a driving wheelcomponent. The driving wheel component includes a hinge bracket, adriving wheel and a shock absorber component. The hinge bracket ishinged to the base. The driving wheel is mounted to the hinge bracketand is rotatable relative to the hinge bracket, to enable the mobilechassis to move. One end of the shock absorber component is hinged tothe hinge bracket and the other end of the shock absorber component ishinged to the base. The shock absorber component includes a shockabsorber, and the shock absorber is configured to reduce vibrationtransmitted to the base via the hinge bracket.

Preferably, the shock absorber component further includes an adjustingarm. One end of the shock absorber is hinged to the hinge bracket, theother end of the shock absorber is hinged to the base; one end of theadjusting arm is hinged to the other end of the shock absorber, theother end of the adjusting arm is hinged to the base; the adjusting armabuts against the base so that the adjusting arm is not rotatable towarda first direction relative to the base; the shock absorber enables theadjusting arm to abut against the base and provides an elastic force toprevent the adjusting arm from rotating toward a second directionrelative to the base, the second direction being opposite to the firstdirection.

Preferably, the adjusting arm is provided with a stop portion, and thestop portion is located on a side of the adjusting arm facing the firstdirection.

Preferably, the adjusting arm and the shock absorber are provided at afirst included angle, and an orientation of opening of the firstincluded angle is in the same direction as the second direction; whenthe shock absorber is assembled, the shock absorber and the adjustingarm are arranged at a second included angle, an orientation of openingof the second included angle is in the same direction as the firstdirection, and lengths of two ends of the shock absorber are extendableso that the elastic force provided by the shock absorber becomes less.

Preferably, the handling device further includes a handling assemblybracket to which the handling assembly is mounted; the lift component isconfigured to drive the handling assembly bracket to raise or lowerrelative to the storage shelf, and the handling assembly is rotatableabout a vertical direction relative to the handling assembly bracket.

Preferably, the handling device further includes a rotation drivingdevice; the rotation driving device includes a rotation driving motor, afixed pulley, a handling assembly synchronous belt pulley and a handlingassembly synchronous belt; the fixed pulley is fixedly mounted to thehandling assembly bracket, the handling assembly synchronous belt pulleyis rotatably mounted to the handling assembly, the handling assemblysynchronous belt is connected to the handling assembly synchronous beltpulley and the fixed pulley, and the rotation driving motor isconfigured to drive the handling assembly synchronous belt pulley torotate relative to the handling assembly so that the handling assemblyrotates about a vertical direction relative to the handling assemblybracket.

Preferably, the fixed pulley is provided with a synchronous belt pressblock convex on its outer wheel face, and the synchronous belt pressblock abuts against the handling assembly synchronous belt so that thehandling assembly synchronous belt is tensioned.

Preferably, the handling assembly is provided with a first locking holeand the handling assembly bracket is provided with a second lockinghole. A locking pin can be simultaneously inserted into the firstlocking hole and the second locking hole so that the handling assemblycannot be rotated about a vertical direction relative to the handlingassembly bracket.

Preferably, the storage shelf includes a vertical beam for supportingeach layered plate component; the layered plate has two ends distributedhorizontally, one end of the layered plate is close to the vertical beamand the other end of the layered plate is suspended in the air and awayfrom the vertical beam.

Preferably, each layered plate component further includes a cross beamconnected to the vertical beam; a side of the layered plate facing awayfrom the mobile chassis is used for placing a material, the cross beamis located on the side of the layered plate facing the mobile chassis,and the cross beam is close to one end of the layered plate; the crossbeam is connected to the side of the layered plate facing the mobilechassis by a support plate.

Preferably, each layered plate component further includes a restrictionstructure; the restriction structure is configured to block a materiallocated on the layered plate.

Preferably, the restriction structure is a surrounding plate; thesurrounding plate extends at an edge of the layered plate in thedirection away from the mobile chassis.

Preferably, the surrounding plate includes a surrounding plate main bodyand a flanging body; the flanging body extends at an edge of thesurrounding plate main body facing away from the layered plate, and theflanging body fits to the surrounding plate main body so that a positionwhere the flanging body is connected to the surrounding plate main bodyis formed into an arc transition.

Preferably, the flanging body and the layered plate are located on thesame side of the surrounding plate main body.

Preferably, each layered plate component includes a plurality ofsurrounding plates; an edge of the layered plate has a plurality of sideedges, each surrounding plate extends on one side edge of the layeredplate, a joint structure provided at a gap between each two adjacentsurrounding plates; a joint structure is jointed with two adjacentsurrounding plates respectively such that an arc-shaped corner is formedat a corner of the two adjacent surrounding plates.

Preferably, the joint structure has two slots; side edges of the twoadjacent surrounding plates are respectively embedded in the two slots.

Preferably, the layered plate is fixedly connected to the jointstructure by a screw.

Preferably, the storage shelf further includes a vertical beam, thevertical beam is detachably connected to the mobile chassis; the liftcomponent includes a synchronous belt pulley mechanism and a liftdriving motor, the lift driving motor is configured to drive thehandling device to lift relative to the storage shelf by the synchronousbelt pulley mechanism; the synchronous belt pulley mechanism is mountedto the vertical beam.

Preferably, the vertical beam is provided with a mounting slot, and thesynchronous belt pulley mechanism is mounted in the mounting slot.

Preferably, the vertical beam is provided with a vertical guideway, thehandling device is provided with a sliding member, the sliding member ismounted to the vertical guideway; and the sliding member may move alongthe vertical guideway to enable the handling device to lift relative tothe storage shelf.

Preferably, the vertical guideway is communicated with the mounting slotto form a closed loop; a synchronous belt of the synchronous belt pulleymechanism is located in the closed loop and the synchronous belt of thesynchronous belt pulley mechanism is connected to the sliding member.

Preferably, the vertical beam is provided with a cushion at an end ofthe vertical guideway.

Preferably, the cushion extends into the vertical guideway and abutsagainst the synchronous belt of the synchronous belt pulley mechanism.

Preferably, the cushion is made of a sponge material or a rubbermaterial.

Preferably, the lift component further includes a braking device; thebraking device includes a braking disc, a guiding base and a pin; thebraking disc is fixed coaxially with an active belt pulley of thesynchronous belt pulley mechanism; the braking disc is provided with oneor more pin holes; the guiding base is provided on the vertical beam,the guiding base is provided with a socket, the pin is inserted into thesocket; the pin may move along the socket so that one end of the pin isinserted into a pin hole and neither the braking disc nor the activebelt pulley is rotatable.

Preferably, the braking device further includes a cam; the cam islocated on a side of the guiding base facing away from the braking disc;the other end of the pin is rotatably connected to the cam, a wheel faceof the cam abuts against a side of the guiding base facing away from thebraking disc so that cam drives the pin to move along the socket whenthe cam rotates.

Preferably, the braking device further includes a resilient member; afirst retaining ring is protrudingly provided on a middle portionbetween two ends of the pin, a second retaining ring is protrudinglyprovided on a wall of the socket, the resilient member abuts between thefirst retaining ring and the second retaining ring, the resilient memberis configured to enable the cam to abut against the guiding base andprovide a pressing force for keeping the pin stationary.

Preferably, the resilient member is a compression spring; thecompression spring is sheathed on the pin.

The beneficial effect of embodiments of the present application is that,in contrast to the situation of the prior art, in the handling robot ofembodiments of the present application, arrangement of the storage shelfcan realize that the handling robot can load a large quantity ofmaterials.

BRIEF DESCRIPTION OF DRAWINGS

One or more embodiments are illustrated exemplarily by means of figuresin the accompanying drawings corresponding thereto; these exemplaryillustrations do not constitute a limitation to the embodiments, andelements having the same reference numeral in the accompanying drawingsare denoted as similar elements, and the figures in the accompanyingdrawings do not constitute a limitation of scale unless specificallystated otherwise.

FIG. 1 is a perspective view of a handling robot provided in anembodiment of the present application;

FIG. 2 is a perspective view of a mobile chassis of the handling robotshown in FIG. 1 ;

FIG. 3 is a bottom view of the mobile chassis shown in FIG. 2 ;

FIG. 4 is a perspective view of a driving wheel component of the mobilechassis shown in FIG. 2 ;

FIG. 5 is a perspective view of a layered plate component of thehandling robot shown in FIG. 1 ;

FIG. 6 is a partially enlarged view at Z shown in FIG. 5 ;

FIG. 7 is a perspective view of the layered plate component shown inFIG. 5 from another view;

FIG. 8 is a sectional view of a lift component and a vertical beam ofthe handling robot shown in FIG. 1 ;

FIG. 9 is a perspective view of a braking device of the handling robotas shown in FIG. 1 ;

FIG. 10 is a sectional view of the braking device as shown in FIG. 9 ;

FIG. 11 is a schematic structural view of part of the handling device ofthe handling robot shown in FIG. 1 , with part of the structure of thehandling device omitted;

FIG. 12 is an exploded schematic view of the handling device shown inFIG. 11 ;

FIG. 13 is an exploded schematic view of a handling assembly of thehandling device shown in FIG. 12 , with part of the structure of thehandling assembly omitted; and

FIG. 14 is a schematic structural view of a telescopic arm of thehandling assembly of the handling device shown in FIG. 12 , with part ofthe structure of the telescopic arm omitted.

DESCRIPTION OF EMBODIMENTS

To facilitate understanding of the present application, the presentapplication is described in more detail below in conjunction with theaccompanying drawings and specific embodiments. It is noted that when anelement is represented as “fixed to” another element, it may be directlyon another element, or one or more intermediate elements may be presenttherebetween. When one element is represented as “connecting” to anotherelement, it may be directly connected to another element, or one or moreintermediate elements may be present therebetween. The term “connected”has the same meaning as the term “coupled” or “attached”. The term“install” has the same meaning as the term “mount”. When an element A isindirectly connected or installed to another element B, it means thatone or more intermediate elements are present between the element A andthe element B. When an element C is directly connected or installed toanother element D, it means that there is no intermediate elementpresent between the element C and element D. The terms “vertical”,“horizontal”, “left”, “right”, “first”, “second”, and similarexpressions used in this specification are intended only forillustrative purpose.

Unless otherwise defined, all technical and scientific terms used inthis specification have the same meaning as commonly understood by thoseskilled in the art to which the present application pertains. In thisspecification of the present application, the terms used are intendedonly for the purpose of describing specific embodiments and are notintended to limit the present application. The term “and/or” used inthis specification includes any and all combinations of one or more ofrelevant enumerated items.

Referring to FIG. 1 and FIG. 8 , it is a handling robot 100 provided inan embodiment of the present application. The handling robot 100 can beapplied to an intelligent warehousing system, an intelligent logisticssystem, an intelligent sorting system, etc. In an embodiment of thepresent application, the handling robot 100 applied to an intelligentwarehousing system is taken as an example for detailed illustration.

The handling robot 100 includes a mobile chassis 10, a storage shelf 20,a lift component 30, and a handling device 40. The mobile chassis 10supports the storage shelf 20, the lift component 30 and the handlingdevice 40.

As shown in FIGS. 1 and 2 , the mobile chassis 10 includes a housing 18.The housing 18 has an upper surface which forms a recess 19. The recess19 is provided with a bottom surface.

In an embodiment, when the handling device 40 is lowered to a lowestposition, the handling device 40 is, at least in part, within the recess19. In some implementations, it is not necessary for the recess 19 tosupport the handling device 40 when the handling device 40 is in a statewhere the handling device 40 is lowered to the lowest position.

Further referring to FIGS. 2 and 3 together, the mobile chassis 10includes, but is not limited to, application to the handling robot 100.For example, the mobile chassis 10 may be applied to an unmannedvehicle, a sweeper, a shuttle, etc.

The mobile chassis 10 is used to enable the handling robot 100 to moveon the ground, the mobile chassis 10 includes a base plate 11, a drivenwheel component 12, a driving wheel component 13 and a guiding device14. The driven wheel component 12, the driving wheel component 13 andthe guiding device 14 are each mounted to the base.

The base is assembled by welding a steel beam, a steel plate and a skin.The base includes a base plate 11. The base plate 11 is a horizontalrectangular plate member in its entirety and has a horizontal firstsymmetry axis S1. The base plate 11 includes a lower surface 1100 and anupper surface 1102 that are back to back, where the lower surface 1100is toward the ground.

The base plate 11 is provided with a recessed portion 1104, a firstmounting port 1106 and a second mounting port 1108. The recessed portion1104 is located on the lower surface 1100. The recessed portion 1104 isused for mounting the driven wheel component 12. The first mounting port1106 runs through the lower surface 1100 and the upper surface 1102. Thefirst mounting port 1106 is used for allowing the driving wheelcomponent 13 to pass through. The second mounting port 1108 runs throughthe lower surface 1100 and the upper surface 1102, and the secondmounting port 1108 is used to expose the guiding device 14.

The driven wheel component 12 is a universal wheel. Four driven wheelcomponents 12 are distributed in a rectangular shape, and the fourdriven wheel components 12 jointly support the base plate 11. It can beappreciated that, according to an actual situation, on the one hand, thedriven wheel component 12 is not limited to a universal wheel, forexample, the driven wheel component 12 may also be a wheel set with asteering bracket (with reference to rear wheel set of a car), as long asthe driven wheel component 12 has a steering function. On the otherhand, the number of the driven wheel component 12 is not limited tofour, for example, the number of the driven wheel component 12 may alsobe three, five, six, etc., as long as the number of the driven wheelcomponent 12 is three or more.

Two driving wheel components 13 are symmetrically distributed relativeto the symmetry axis S1, and different rotational speeds between the twodriving wheel components 13 makes the handling robot 100 deflect towarda side of one driving wheel component with a lower rotational speed ofthe two driving wheel components 13, to realize the steering of thehandling robot 100.

The driven wheel component 12 and the driving wheel component 13 jointlysupport the base plate 11.

Further referring to FIG. 4 , each driving wheel component 13 includes adriving wheel 130, a hinge bracket 131 and a shock absorber component.The driving wheel 130 is mounted to the hinge bracket 131 and the shockabsorber component is mounted to the hinge bracket 131.

The driving wheel 130 has a horizontal wheel rotation axis O. Thedriving wheel 130 is mounted to the hinge bracket 131. The driving wheel130 is rotatable about the wheel rotation axis O relative to the hingebracket 131. The wheel rotation axis O is perpendicular to the firstsymmetry axis S1, and a part of the driving wheel 130 protrudes from thelower surface 1100 of the base plate 11 through the first mounting port1106.

It is worth noting that by providing the recessed portion 1104 formounting the driven wheel component 12, and providing the driving wheelcomponent 13 on a side that the upper surface 1102 faces and allowingthe driving wheel component to protrude from the lower surface 1100through the first mounting port 1106, it can realize a reduction in bothclearance from ground and height of mass center of the mobile chassis10, thereby increasing the ground grip of the mobile chassis 10, andimproving the stability of movement of the mobile chassis 10.

The driving wheel 130 is driven by a driving wheel motor. Specifically,the driving wheel motor may be a servo motor, and the driving wheelmotor drives the driving wheel 130 to rotate about the wheel rotationaxis O relative to the hinge bracket 131. A reducer may also be providedbetween the driving wheel motor and the driving wheel 130, a stator ofthe driving wheel motor is connected to one end of housing of thereducer by a flange, a rotor of the driving wheel motor transmits torqueto an input shaft of the reducer by a flat key, the other end of housingof the reducer is connected to the hinge bracket 131 by a flange, anoutput shaft of the reducer passes through the hinge bracket 131 andtransmits torque to the driving wheel 130 by a flat key.

The hinge bracket 131 as a whole is a vertical plate member, and thehinge bracket 131 can be a single piece or an assembly assembled byseveral parts. This is not limited in the embodiment of the presentapplication.

The hinge bracket 131 is hinged to the base plate 11 by a bearing seat,and the hinge bracket 131 is rotatable about a first axis L1 relative tothe base plate 11. It can be appreciated that, depending on an actualsituation, the bearing seat may be omitted and the hinge bracket 131 ishinged directly to the base plate 11, a position where the hinge bracket131 is hinged to the base plate 11 is located on a side to which theupper surface 1102 is oriented.

In this embodiment, the first axis L1 is parallel to the wheel rotationaxis O and the first axis L1 does not coincide with the wheel rotationaxis O so that during rotation of the hinge bracket 131 about the firstaxis L1 relative to the base plate 11, a spacing between driving wheels130 of two driving wheel components 13 remains constant and the movementof the mobile chassis 10 is stable.

In some other embodiments, the first axis L1 is perpendicular to thewheel rotation axis O.

One end of the shock absorber component is hinged to the hinge bracket131, and the other end of the shock absorber 132 is hinged to the uppersurface 1102 of the base plate.

The shock absorber component includes a shock absorber 132 and anadjusting arm 133 hinged to the shock absorber 132.

The shock absorber 132 is used to reduce the vibration transmitted tothe base plate 11 via the hinge bracket 131. The shock absorber 132realizes the reduction of the vibration at the two ends by compressinglengths of the two ends. One end of the shock absorber 132 is hinged tothe hinge bracket 131. The shock absorber 132 is rotatable about asecond axis L2 relative to the hinge bracket 131, and the second axis L2is parallel to the first axis L1 and the first axis L1 does not coincidewith the second axis L2. The other end of the shock absorber 132 ishinged to the adjusting arm 133. The shock absorber 132 is rotatableabout a third axis L3 relative to the adjusting arm 133, and the thirdaxis L3 is parallel to the first axis L1.

One end of the adjusting arm 133 is hinged to the other end of the shockabsorber 132. The upper surface 1102 of the base plate 11 is providedwith a vertical fixing rod 1110, and the other end of the adjusting arm133 is hinged to the fixing rod 1110. The adjusting arm 133 is rotatableabout a fourth axis L4 relative to the base plate 11, and the fourthaxis L4 is parallel to the first axis L1. The adjusting arm 133 abutsagainst the fixing rod 1110 so that the adjusting arm 133 is notrotatable about the fourth axis L4 relative to the base plate 11 towarda first direction F1. The first direction F1 is in the same direction asthe orientation of the upper surface 1102.

The shock absorber 132 provides an elastic force to abut the adjustingarm 133 against the fixing rod 1110 and prevent the adjusting arm 133from rotating toward a second direction F2 relative to the base plate11. The second direction F2 is opposite to the first direction F1. Thesecond direction F2 is in the same direction as the orientation of thelower surface 1100.

It can be appreciated that, depending on an actual situation, the fixingrod 1110 may be omitted, that is, the other end of the adjusting arm 133is hinged directly to the base plate 11, and a position where theadjusting arm 133 is hinged to the base plate 11 is located on a side towhich the upper surface 1102 is oriented. The adjusting arm 133 abutsagainst the base plate 11, and a position where the adjusting arm 133abuts against the base plate 11 is located on a side to which the uppersurface 1102 is oriented.

The adjusting arm 133 is provided with a stop portion 1330. The stopportion 1330 is located on a side of the adjusting arm 133, where theside is orientated towards the first direction F1.

The adjusting arm 133 and the shock absorber 132 are provided at a firstincluded angle, and the orientation of the opening of the first includedangle is in the same direction as the second direction F2.

It is worth noting that, on the one hand, the working environment of thehandling robot 100 is generally a warehouse with a relatively flatfloor. On the other hand, the driving wheel component 13 carries onlythe weight within the limit of the handling robot 100, that is, duringthe gradual increase of the weight of the handling robot 100, thedriving wheel 130 will move towards the side to which the upper surfaceof the base plate 11 is oriented, until the lowest point of the drivingwheel 130 is at the same level as the lowest point of the driven wheelcomponent 12. At this time, weight of the handling robot 100 exceedingthe limit will be carried by the driven wheel component 12. Thus, arotation range of the hinge bracket 131 rotating is limited, and thus arotation range of the shock absorber 132 rotating is also limited. Thefirst included angle therefore remains substantially unchanged.

When the shock absorber 132 is assembled, the shock absorber 132 and theadjusting arm 133 are arranged at a second included angle, and theorientation of the opening of the second included angle is in the samedirection as the first direction F1. The lengths of two ends of theshock absorber 132 can be elongated so that the elastic force providedby the shock absorber 132 is reduced, which may enable the shockabsorber 132 to be mounted conveniently. By first making the stopportion 1330 of the adjusting arm 133 not abut against the fixing rod1110, and mounting the two ends of the shock absorber 132 to theadjusting arm 133 and the hinge bracket 131 respectively, the shockabsorber 132 can be in a natural state or slightly compressed, that is,a connection line between two ends of the shock absorber 132 and aconnection line between two ends of the adjusting arm 133 are providedat the second included angle. The orientation of the opening of thesecond included angle is in the same direction as the first directionF1. Then the shock absorber 132 and the adjusting arm 133 are pulledtowards the first direction F1. The shock absorber 132 is firstcompressed and then is slightly elongated, so that the stop portion 1330of the adjusting arm 133 abuts against the fixing rod 1110. By settingthe adjusting arm 133, it is not necessary to mount the shock absorber132 while compressing the shock absorber 132, and the mounting of theshock absorber 132 is more convenient.

In addition, by setting the adjusting arm 133, after the shock absorber132 is mounted, the spring tightness of the shock absorber 132 is alsoeasy to be adjusted to adapt to the working environment of the mobilechassis. Specifically, making the shock absorber 132 and the adjustingarm 133 provided at the second included angle, and at this time two endsof the shock absorber 132 are basically not under pressure, and thespring tightness of the shock absorber 132 is easy to adjust.

When the driving wheel motor stops working, the driving wheel 130 is notrotatable. Therefore, in the case where the shock absorber 132 and theadjusting arm 133 are provided at the first included angle, the drivingwheel 130 supports the chassis. When the handling robot 100 is pushed bythe driven wheel component 12 to a maintenance area, the driving wheel130 will rub against the ground, therefore preventing the handling robot100 from moving. When the shock absorber 132 and the adjusting arm 133are provided at the second included angle, since two ends of the shockabsorber 132 are basically not under pressure, the driving wheel 130basically does not abut against the ground, that is, the driving wheel130 does not support the base, and the handling robot 100 can berelatively easily pushed to the maintenance area for maintenance.

It can be appreciated that, depending on the actual situation, theadjusting arm 133 may be omitted, that is, one end of the shock absorber132 is hinged to the hinge bracket 131 and the other end of the shockabsorber 132 is hinged to the base 11, as long as the driving wheel 130,the hinge bracket 131, the shock absorber 132 and the base plate 11 areconnected in sequence and two ends of the shock absorber 132 aretelescopic.

In comparison with the prior art, in a handling robot 100 of theembodiment of the present application and its mobile chassis 10, bysetting a shock absorber component in the mobile chassis 10, themovement of the mobile chassis 10 is more stable.

The guiding device 14 is mounted to the upper surface 1102 of the baseplate 11. In an embodiment, the guiding device 14 is a camera, and lensof the camera is aligned with the second mounting port 1108. The guidingdevice 14 is used to identify the two-dimensional code affixed to theground, so that the handling robot 100 travels along a preset path.

It can be appreciated that, depending on the actual situation, theguiding device 14 is not limited to a camera. For example, the guidingdevice 14 may also be a laser guiding device for guiding the handlingrobot 100 to travel along a laser beam, or, for another example, theguiding device 14 is a short-wave receiving device for achieving aguidance function by receiving a preset short-wave signal, etc.

Referring back to FIG. 1 , the storage shelf 20 is mounted to the uppersurface 1102 of the base plate 11.

The storage shelf 20 includes a plurality of layered plate components 21distributed at different heights and a vertical beam 22 for supportingeach layered plate component 21.

Each layered plate component 21 includes a layered plate 210, arestriction structure and a cross beam 214. As shown in FIG. 1 , thecross beam 214 is connected (e.g., mounted) to the vertical beam 22.Specifically, one end of the cross beam 214 is mounted to one of twovertical beams 22, and another end of the cross beam 214 is mounted toanother of the two vertical beams 22. In an embodiment, the cross beam214 is connected (e.g., mounted) to the vertical beam 22 by fasteners,such as threaded nuts. In some other embodiments, the cross beam 214 isintegrally formed with the vertical beam 22.

The layered plate 210 is used for placing a material, the layered plate210 has two ends distributed horizontally, one end of the layered plate210 is close to the vertical beam 22 and the other end of the layeredplate 210 is suspended in the air and away from the vertical beam 22. Asshown in FIG. 1 , at least two of the plurality of layered platecomponents 21 are wholly supported by the two vertical beams 22. It isobvious from FIGS. 1, 5 and 7 that the layered plates 210 of the atleast two layered plate components are wholly supported by the twovertical beams 22. For example, as shown in FIG. 1 , with respect toeach of the at least two layered plate components, a cross beam 214 of aparticular layered plate component 21 is mounted to the two verticalbeams 22, and a layered plate 210 of the particular layered platecomponent 21 is supported by the cross beam 214 of the particularlayered plate component 21. As the weight of the layered plate 210 ofthe particular layered plate component 21 is wholly supported by thecross beam 214 of the particular layered plate component 21, it is infact that the layered plate 210 of the particular layered platecomponent 21 is wholly supported by the cross beam 214 of the particularlayered plate component 21. It can be seen from FIGS. 1 and 5 that thelayered plate 210 is disposed on the cross beam 214.

It is not limited to the shape of the layered plate 210. In anembodiment, the layered plate 210 is provided with a flat surface, asshown in FIG. 5 . For example, as shown in FIG. 5 , the layered plate210 includes a board with a flat upper surface. This board can be madeof wood or various type of metals. The material (inventory item) isplaced on the board. In some other embodiments, the layered plate 210 isprovided with a hollowed structure. For example, the layered plate 210includes two bars spaced apart with each other, and the two bars areconfigured to jointly place or support a material (e.g., an inventoryitem).

In an embodiment, as shown in FIG. 1 , each of the plurality of layeredplate components 21 is wholly supported by the two vertical beams 22.For example, the layered plate 210 (such as the above board) of each ofthe plurality of layered plate components is wholly supported by thevertical beam 22 through the cross beam 214 of the each of plurality oflayered plate components.

The restriction structure is used to block the material located on thelayered plate.

In this embodiment, the restriction structure is a surrounding plate212, the surrounding plate 212 extends at an edge of the layered plate21 in a direction away from the mobile chassis 10. The surrounding plate212 is used to block the material placed on the layered plate 210 toprevent the material placed on the layered plate 210 from slipping offthe layered plate 210.

It can be appreciated that the restriction structure is not limited tothe surrounding plate 212. Depending on the actual situation, therestriction structure may also be a columnar structure provided close tothe edge of the layered plate.

Referring to FIGS. 5 and 6 , each layered plate component 21 includes aplurality of surrounding plates 212. The edge of the layered plate 210has a plurality of side edges, each surrounding plate 212 extends on oneside edge of the layered plate 210 A joint structure 216 is provided ata gap between each two adjacent surrounding plates 212. The jointstructure 216 is jointed with two adjacent surrounding plates 212respectively such that an arc-shaped corner is formed at a corner of thetwo adjacent surrounding plates 212.

The joint structure 216 has two slots 2160. Side edges of two adjacentsurrounding plates 212 are embedded in the two slots 2160, respectively.The joint structure 216 is fixed to the layered plate 210 by a screw.

Each surrounding plate 212 includes a surrounding plate main body 2120and a flanging body 2122. The flanging body 2122 extends at an edge ofthe surrounding plate main body 2120 facing away from the layered plate210, and the flanging body 2122 fits to the surrounding plate main body2120 so that a position where the flanging body 2122 is connected to thesurrounding plate main body 2120 is shaped into an arc transition.

The flanging body 2122 and the layered plate 210 are located on the sameside of the surrounding plate main body 2120.

Further referring to FIG. 7 , a side of the layered plate 210 facingaway from the mobile chassis 10 is used for placing a material. Thecross beam 214 is located on a side of the layered plate 210 facing themobile chassis 10, and the cross beam 214 is close to one end of thelayered plate 210. As shown in FIGS. 1, 5 and 7 , the cross beam 214 islocated beneath the layered plate 210 and configured to support weightof the layered plate 210, as well as weight of an inventory item if theinventory item is placed on the layered plate 210.

In an embodiment, the cross beam 214 is connected to a side of thelayered plate 210 facing the mobile chassis 10 by a support plate 218located beneath the layered plate 210. For example, as shown in FIG. 7 ,the support plate 218 is mounted to a lower side of the layered plate210. In an embodiment, the support plate 218 is installed to the layeredplate 210 by screws. In another embodiment, the support plate 218 andthe lower side of the layered plate 210 are integrally formed into onepiece, as shown in FIG. 7 .

In an embodiment, the support plate 218 is mounted to the cross beam 214by screws, as shown in FIG. 7 . In some other embodiments, the supportplate 218 is integrally formed with the cross beam 214. It should benoted that both the support plate 218 and the layered plate 210 may beintegrally formed with the cross beam 214.

It is not limited to the number of the support plates 218. For example,there may be more than two support plates 218 disposed vertically andparallelly to each other. In an embodiment, there may be two supportplates 218, as shown in FIG. 7 , where each of the two support plates218 is disposed vertically and is parallel to another. In anotherembodiment, three or more support plates 218 are provided. In some otherembodiment, there may be a single support plate 218.

Two vertical beams 22 are symmetrically distributed relative to thesymmetry axis S1.

Referring to FIG. 8 , the vertical beam 22 is detachably connected,specifically by a bolt, to the upper surface 1102 of the base plate 11.

The vertical beam 22 is provided with a mounting slot 220 and a verticalguideway 222.

The mounting slot 220 is used for mounting the lift component 30, andthe mounting slot 220 is located within the vertical beam 22.

The vertical guideway 222 is used for mounting the handling device 40,and the vertical guideway 222 is provided on a surface of the verticalbeam 22. The vertical guideway 222 is connected with the mounting slot220, and the vertical guideway 222 and the mounting slot 220 form aclosed loop.

The vertical beam 22 is provided with a cushion 224 at the end of thevertical guideway 222. The cushion 224 can be made of such material assponge or rubber, etc. The cushion 224 can prevent the handling device40 from directly colliding with the vertical beam 22 when rising to thehighest point or falling to the lowest point.

The cushion 224 protrudes into the vertical guideway 222 and abutsagainst the lift component 30.

The lift component 30 is used to drive the handling device 40 to lift(e.g., raise or lower) relative to the storage shelf 20.

The lift component 30 includes a synchronous belt pulley mechanism 31and a lift driving motor. The lift driving motor is used to drive thehandling device 40 to raise or lower relative to the storage shelf 20 bythe synchronous belt pulley mechanism 31.

The synchronous belt pulley mechanism 31 is mounted in the mounting slot220. The synchronous belt 310 of the synchronous belt pulley mechanism31 is located in the closed loop, and the synchronous belt 310 of thesynchronous belt pulley mechanism 31 is connected to the handling device40.

The lift driving motor drives an active belt pulley 311 of thesynchronous belt pulley mechanism 31 to rotate through a lift drivingreducer, a gear set and a transmission shaft. Depending on the actualsituation, one or more of the lift driving reducer, the gear set and thetransmission shaft can be omitted.

The synchronous belt 310 of the synchronous belt pulley mechanism 31abuts against the cushion 224 so that dust does not easily enter fromthe vertical guideway 222 into the mounting slot 220, avoiding a powerdrop caused by the accumulation of dust in the synchronous belt pulleymechanism 31.

Referring to FIGS. 9 and 10 , the lift component 30 further includes abraking device 32; the braking device 32 is used to stop the synchronousbelt pulley mechanism 31 from working.

The braking device 32 includes a braking disc 320, a guiding base 322, apin 324, a resilient member 326 and a cam 328. The braking disc 320 isprovided coaxially with the active belt pulley 311 of the synchronousbelt pulley mechanism 31. The braking disc 320 rotates synchronouslywith the active belt pulley 311 of the synchronous belt pulley mechanism31 when the synchronous belt pulley mechanism 31 is in operation. Thebraking disc 320 is provided with one or more pin holes 3200, and thepin holes 3200 rotates synchronously with the braking disc 320 when thebraking disc 320 rotates.

The guiding base 322 is mounted to the vertical beam 22 and the guidingbase 322 is provided with a socket 3220.

The pin 324 is inserted into the socket 3220. As the braking disc 320rotates, one end of the pin 324 can be aligned with and inserted intothe pin hole 3200 to stop the braking disc 320 and the synchronous beltpulley mechanism 31 provided coaxially with the braking disc 320 fromworking.

The cam 328 is located on a side of the guiding base 322 away from thebraking disc 320. The cam 328 is rotatably connected to the other end ofthe pin 324, and the cam 328 is rotatable about its wheel centerrelative to the pin 324. A wheel face of the cam 328 abuts against theside of the guiding base 322 away from the braking disc 320 so that thepin 324 moves along the socket 3220 relative to the guiding base 322.

The resilient member 326 is used to enable the cam 328 to abut againstthe guiding base 322 and provide a pressing force to keep the pin 324stationary. Specifically, the resilient member 326 is a compressionspring. A first retaining ring 3240 is protrudingly provided on a middleportion between two ends of the pin 324, and a second retaining ring3222 is protrudingly provided on a wall of the socket 3220. The secondretaining ring 3222 is located between the first retaining ring 3240 andthe cam 328. The resilient member 326 is sheathed on the pin 324, andthe resilient member 324 abuts between the first retaining ring 3240 andthe second retaining ring 3222.

A spanner 329 is provided on the cam 328. An operator pulls the spanner329 to drive the cam 328 to rotate, so that the synchronous belt pulleymechanism 31 stops working. It can be appreciated that, depending on theactual situation, a cam driving motor may also be provided to drive thecam 328 to rotate so as to achieve braking of the synchronous beltpulley mechanism 31.

It should be noted that implementation of the lifting transmissionmechanism is not limited to the synchronous belt pulley mechanism. Forexample, the lifting transmission mechanism may also be any one of asprocket wheel mechanism, a gear rack mechanism, a turbine wormmechanism, and a lifting screw mechanism, as long as the liftingtransmission mechanism, at least in part, is mounted in the mountingslot 220.

It should be noted that there are many ways to mount the liftingtransmission mechanism in the mounting slot 220. In an embodiment, apart of the lifting transmission mechanism is mounted in the mountingslot 220. In another embodiment, the whole of the lifting transmissionmechanism is mounted in the mounting slot 220.

For example, in an embodiment, the synchronous belt pulley mechanism 31including two belt pulleys is wholly housed in the mounting slot 220.However, in some other embodiments, only a part of the synchronous beltpulley mechanism 31 (e.g., the top belt pulley) is within the mountingslot 220.

Referring to FIG. 11 , the handling device 40 includes a handlingassembly bracket 41, a handling assembly 42 and a rotation drivingdevice 43. The handling assembly 42 is mounted to the handling assemblybracket 41, and the rotation driving device 43 is mounted between thehandling assembly 42 and the handling assembly bracket 41.

It can be seen from FIG. 1 that the handling device 40 and layeredplates 210 of the plurality of layered plate components 21 are disposedat two different sides of the two vertical beams 22. For example, asshown in FIG. 1 , the two vertical beams 22 form a vertical plane. Thehandling device 40 is located at a right side of the vertical plane andis disposed at the right side of the two vertical beams 22. The layeredplates 210 are located at a left side of the vertical plane and aredisposed at the left side of the two vertical beams 22. It should benoted that as long as an end of a particular layered plate 210 suspendedin the air and away from the two vertical beams 22 is located at theleft side of the two vertical beams 22, this particular layered plate210 for placing a material is located or disposed at the left side ofthe two vertical beams 22, and vice versa. As long as the handlingassembly bracket 41 or the rotation driving device 43 is located at theright side of the two vertical beams 22, the handling device 40 isdisposed at the right side of the two vertical beams 22, and vice versa.

The handling assembly bracket 41 is assembled by welding a steel beamand a steel plate. The handling assembly bracket 41 is provided with asliding member 410. Two sliding members 410 are symmetricallydistributed relative to the first symmetry axis S1, and the two slidingmembers 410 are each mounted to a corresponding vertical guideway 322.The sliding member 410 can move along the vertical guideway 322 toenable the handling device 40 to lift relative to the storage shelf 20.

The handling assembly bracket 41 is connected to the handling assembly42 by a cross roller bearing or a cross ball bearing so that thehandling assembly 42 is rotatable about a vertical direction relative tothe handling assembly bracket 41. Depending on the actual situation, thehandling assembly bracket 41 and the handling assembly 42 are notlimited to being connected by a cross roller bearing, for example, thehandling assembly bracket 41 and the handling assembly 42 may also beconnected by a slewing bearing.

The rotation driving device 43 includes a rotation driving motor, afixed pulley 430, a handling assembly synchronous belt pulley 432 and ahandling assembly synchronous belt 434. A side of the handling assemblybracket 41 towards the handling assembly 42 is fixedly mounted with thefixed pulley 430, and the fixed pulley 430 is coaxially provided withthe cross roller bearing. The handling assembly synchronous belt pulley432 is rotatably mounted to the handling assembly 42 about a verticaldirection. The handling assembly synchronous belt 434 is connected tothe handling assembly synchronous belt pulley 432 and the fixed pulley430. The rotation driving motor is used to drive the handling assemblysynchronous belt pulley 432 to rotate relative to the handling assembly42 so that the handling assembly 42 rotates about the vertical directionrelative to the handling assembly bracket 41.

In an embodiment, the fixed pulley 430 is provided with a synchronousbelt press block 4300 convex on its outer wheel face. The synchronousbelt press block 4300 abuts against the handling assembly synchronousbelt 434 so that the handling assembly synchronous belt 434 istensioned.

In some embodiments, the fixed pulley 430 and the synchronous beltpulley 432 may be a sprocket wheel, and the belt 434 is a roller chain.

The handling assembly 42 is provided with a first locking hole 4200 andthe handling assembly bracket 41 is provided with a second locking hole4100. A locking pin 44 can be inserted into the first locking hole 4200and the second locking hole 4100 simultaneously, so that the handlingassembly 42 is not rotatable about a vertical direction relative to thehandling assembly bracket 41.

A side of the handling assembly bracket 41 towards the handling assembly42 is mounted with a first restriction block 450, and a side of thehandling assembly 42 towards the handling assembly bracket 41 is mountedwith a second restriction block 452. The first restriction block 450 isused to abut against the second restriction block 452 to enable thehandling assembly 42 to rotate within a preset angle range.

The handling device 40 further includes a first angle sensor 460, asecond angle sensor 461 and a controller. The first angle sensor 460 andthe second angle sensor 461 are both connected to the controller.

The first angle sensor 460 is used to detect whether the handlingassembly 42 rotates to be within a first preset angle range relative tothe handling assembly bracket 41, and the second angle sensor 461 isused to detect whether the handling assembly 42 rotates to be within asecond preset angle range relative to the handling assembly bracket 41.It is noted that the first preset angle range and the second presetangle range are both included in the preset angle range, and there is anintersection between the first preset angle range and the second presetangle range. The intersection between the first preset angle range andthe second preset angle range is a reference angle, and the referenceangle is either a specific value or a continuous range of values.

The first angle sensor 460 and the second angle sensor 461 are bothproximity switches. The handling device 40 further includes a detectionplate 462. Both the first angle sensor 461 and the second angle sensor462 are mounted to a side of the handling assembly bracket 41 towardsthe handling assembly 42. The detection plate 462 is mounted to a sideof the handling assembly 42 towards the handling assembly bracket 41.When the first angle sensor rotates with the handling assembly 42 to bedirectly opposite to the detection plate 462, the first angle sensor 460detects that the handling assembly 42 rotates to be within the firstpreset angle range. When the first angle sensor 460 rotates with thehandling assembly 42 to be not directly opposite to the detection plate462, the first angle sensor 460 detects that the handling assembly 42does not rotate to be within the first preset angle range. Similarly,when the second angle sensor 461 rotates with the handling assembly 42to be directly opposite to the detection plate 462, the second anglesensor 461 detects that the handling assembly 42 rotates to be withinthe second preset angle range. When the second angle sensor 461 rotateswith the handling assembly 42 to be not directly opposite to thedetection plate 462, the second angle sensor 461 detects that thehandling assembly does not rotate to be within the second preset anglerange. When both the first angle sensor 460 and the second angle sensor461 are directly opposite to the detection plate 462, the handlingassembly 42 rotates to be within the intersection of the first presetangle range and the second preset angle range, that is, the handlingassembly 42 rotates to the reference angle.

The controller is connected to the rotation driving motor. When thefirst angle sensor 460 detects that the handling assembly 42 rotates tobe within the first preset angle range and the second angle sensor 461detects that the handling assembly 42 does not rotate to be within thesecond preset angle range, the controller controls the rotation drivingmotor to operate so that the handling assembly 42 rotates to be withinthe second preset angle range. When the first angle sensor 460 detectsthat the handling assembly 42 does not rotate to be within the firstpreset angle range and the second angle sensor 461 detects that thehandling assembly 42 rotates to be within the second preset angle range,the controller controls the rotation driving motor to operate so thatthe handling assembly 42 rotates to be within the first preset anglerange. When the first angle sensor 460 detects the handling assembly 42rotates to be within the first preset angle range and the second anglesensor 461 detects the handling assembly 42 rotates to be within thesecond preset angle range, the controller controls the rotation drivingmotor to stop operating, and at this time the handling assembly 42 is atthe reference angle.

The handling assembly 42 is used to transport a material to a layeredplate 210 at the same height as the handling assembly 42, or totransport a material out of a layered plate 210 at the same height asthe handling assembly 42. The handling assembly 42 may be at the sameheight as a layered plate 210 when the handling device 40 lifts relativeto the storage shelf.

The handling assembly 42 has a horizontal second symmetry axis S2. Thehandling assembly 42 includes a temporary storage pallet 420, atelescopic arm 421, a fixed pusher 422 and a movable pusher 423. Whereone end of the telescopic arm 421 is mounted to the temporary storagepallet 420, and both the fixed pusher 422 and the movable pusher 423 aremounted at the other end of the telescopic arm 421. The fixed pusher 422is closer to one end of the telescopic arm 421 than the movable pusher423, where the one end of the telescopic arm 421 is mounted to thetemporary storage pallet 420. The other end of the telescopic arm 421may extend or retract along the second symmetry axis S2 relative to thetemporary storage pallet 420, and drive the fixed pusher 422 and themovable pusher 423 to extend or retract. The movable pusher 423 may beexpanded or folded relative to the telescopic arm 421.

Two telescopic arms 421 are symmetrically provided on two opposite sidesof the second symmetry axis S2, and each of two telescopic arms 421 ismounted with one movable pusher 423. The fixed pusher 422 is connectedbetween the two telescopic arms 421. Depending on the actual situation,the number of the telescopic arms 421 is not limited to two, and thenumber of the telescopic arm 421 may also be one.

Further referring to FIG. 12 , each telescopic arm 421 includes an outersection arm 424, a middle section arm 425 mounted to the outer sectionarm 424, and an inner section arm 426 mounted to the middle section arm425. The outer section arm 424, the middle section arm 425 and the innersection arm 426 are disposed sequentially close to the second symmetryaxis S2. The outer section arm 424 is fixedly mounted to the temporarystorage pallet 420, and both the fixed pusher 422 and the movable pusher423 are mounted to the inner section arm 426.

As shown in FIGS. 1 and 12 , the handling assembly 42 includes aU-shaped housing 4210. The U-shaped housing 4210 is installed around thetemporary storage pallet 420 and configured to prevent the material(e.g., inventory item) on the temporary storage pallet 420 from fallingoff. Because of the U-shaped housing 4210, the telescopic arm 421 isonly extendable in a single direction.

At least a part of the temporary storage pallet 420 and the telescopicarm 421 is in the U-shaped housing 4210. For example, as shown in FIG.12 , at least a part of the telescopic arm 421 and at least a part ofthe temporary storage pallet 420 are housed in the U-shaped housing4210.

As shown in FIG. 12 , the U-shaped housing 4210 includes a left housingmember 4211, a right housing member 4212, and a rear housing member4213. The left housing member 4211 is configured to house at least apart of one of the two telescopic arms 421, and the right housing member4212 is configured to house at least a part of another of the twotelescopic arms 421.

It is not limited to the ways to make and install the U-shaped housing4210. In an embodiment, the left housing member 4211, the right housingmember 4212 and the rear housing member 4213 are integrally formed intoone piece. In some other embodiments, the left housing member 4211, theright housing member 4212 and the rear housing member 4213 are separatecomponents. Both the left housing member 4211 and the right housingmember 4212 may be connected to the rear housing member 4213 viafasteners, such as screwed nuts. However, it may be also possible thatone of the left housing member 4211 and the right housing member 4212 isintegrally formed with the rear housing member 4213, and another of theleft housing member 4211 and the right housing member 4212 is connectedto the rear housing member 4213 by fasteners.

In an embodiment, the left housing member 4211 may be integrally formedwith one of two telescopic arms 421, and the right housing member 4212may be integrally formed with another of the two telescopic arm 421.

It is not limited to the shape and structure of each of left housingmember 4211, the right housing member 4212 and the rear housing member4213, as long as the housing 4210 is U-shaped as a whole. In anembodiment, the rear housing member 4213 includes an arcuate outersurface. In some other embodiments, the rear housing member 4213includes a flat outer surface. If the left housing member 4211 and theright housing member 4212 are symmetrically disposed relative areference line, and the rear housing member 4213 connects to both an endof the left housing member 4211 and an end of the right housing member4212, a U-shaped housing 4210 is therefore formed.

Further referring together to FIG. 13 , a sprocket mechanism 427 isprovided between the middle section arm 425 and the outer section arm424. The middle section arm 425 can be driven by the sprocket mechanism427 to extend or retract along the second symmetry axis S2 relative tothe outer section arm 424.

Further referring together to FIG. 14 , a movable pulley mechanism isprovided between the outer section arm 424, the middle section arm 425and the inner section arm 426. The movable pulley mechanism includes apulley 428 and a lasso 429. The pulley 428 is mounted to the middlesection arm 425. The middle between two ends of the lasso 429 is bentand is sheathed on the pulley 428 so that the two ends of the lasso 429are opposite each other. One end of the lasso 429 is fixedly connectedto the outer section arm 424, and the other end of the lasso 429 isfixedly connected to the inner section arm 426. When the middle sectionarm 425 extends or retracts at a first speed relative to the outersection arm 424, the inner section arm 426 extends or retracts at asecond speed relative to the outer section arm 424, where the secondspeed is twice the first speed. By arranging a movable pulley mechanism,the inner section arm 426 can extend or retract at a fast speed,improving efficiency of the handling assembly 100 for fetching andplacing a material.

The movable pusher 423 protrudes from the telescopic arm 421 in adirection close to the second symmetry axis S2 when the movable pusher423 expands relative to the telescopic arm 421, and the movable pusher423 substantially coincides with the telescopic arm 421 when the movablepusher 423 is folded relative to the telescopic arm 421. The movablepusher 423 is directly driven by a pusher motor. The pusher motor isused to drive the movable pusher 423 to rotate relative to thetelescopic arm 421 so that the movable pusher 423 is expanded or foldedrelative to the telescopic arm 421. It can be appreciated that,depending on the actual situation, the way of movement of the movablepusher 423 is not limited to rotation, for example, the movable pusher423 may move in a way of extending out of the telescopic arm 421 orretracting into the telescopic arm 421.

When the handling robot 100 performs a material loading operation, aspecific working process is as follows.

The handling robot 100 moves to the vicinity of a fixed shelf on which amaterial to be loaded is placed; the handling robot 100 moves to be sideby side with the material to be loaded; the material to be loaded islocated on a layered plate 210; the lift component 30 drives thehandling device 40 to lift to the same height as the layered plate 210on which the material to be loaded is placed, and at the same time thehandling assembly 42 rotates about a vertical direction so that thelayered plate 210 on which the material to be loaded is placed is on thesecond symmetry axis S2; the movable pusher 423 is folded and thetelescopic arm 421 extends so that the movable pusher 423 passes overthe material to be loaded; the movable pusher 423 is expanded and thetelescopic arm 421 is retracted and the movable pusher 423 pulls thematerial to be loaded to the temporary storage pallet 420 for temporarystorage. The handling assembly 42 rotates about the vertical directionso that the storage shelf 20 is located on the second symmetry axis S2,and at this time the handling assembly 42 is located at a referenceangle.

If at this time the temporary storage pallet 420 is not at the sameheight as any vacant layered plate 210, it is necessary to drive thehandling device 40 by the lift component 30 to lift so that thetemporary storage pallet 420 is at the same height as one vacant layeredplate 210.

After the temporary storage pallet 420 is at the same height as a vacantlayered plate 210, the telescopic arm 421 extends and the materiallocated on the temporary storage pallet 420 is pushed by the fixedpusher 422 to one layered plate 210 at the same height as the handlingdevice 40, and then the movable pusher 423 is folded and the telescopicarm 421 is retracted. At this time, the handling robot 100 finishes theoperation of material loading.

A process of material unloading by the handling robot 100 is similar tothe process of material loading, and when the handling robot 100performs a material unloading operation, a specific working process isas follows.

The handling robot 100 moves to the vicinity of a fixed shelf on which amaterial to be unloaded is placed; the handling robot 100 moves to beside by side with a designated empty position on the fixed shelf; thelift component 30 drives the handling device 40 to lift to the sameheight as the material to be unloaded; due to that the handling assembly42 is at a reference angle and the storage shelf 20 is located on thesecond symmetry axis S2, the movable pusher 423 is folded and thetelescopic arm 421 is extended so that movable pusher 423 passes overthe material to be unloaded; the movable pusher 423 is expanded and thetelescopic arm 421 is retracted and the movable pusher 423 pulls thematerial to be unloaded to the temporary storage pallet 420 fortemporary storage.

If at this time the handling device 40 is not at the same height as thedesignated empty position, it is necessary to drive the handling device40 by the lift component 30 to lift so that the temporary storage pallet420 is at the same height as the designated empty position.

After the temporary storage pallet 420 is at the same height as a vacantlayered plate 210, the telescopic arm 421 is extended and the materialto be unloaded located on the temporary storage pallet 420 is pushed bythe fixed pusher 422 to the designated empty position on the fixedshelf, and then the movable pusher 423 is folded and the telescopic arm421 is retracted.

The handling assembly rotates about the vertical direction so that thestorage shelf 20 is located on the second symmetry axis S2, and at thistime the handling assembly 42 is located at a reference angle. At thistime, the handling robot 100 finishes the operation of materialunloading.

In comparison with the prior art, in the handling robot 100 provided inthe embodiment of the present application, by configuring the storageshelf 20 it can be realized that the handling robot 100 can load a largequantity of materials.

The above is only implementations of the present application, and is notintended to limit the scope of the present application. Any equivalentstructure or equivalent process transformation made by using thecontents of specification and accompanying drawings of the presentapplication, or any direct or indirect application in other relatedtechnical fields, is equally included in the protection scope of thepresent application.

What is claimed is:
 1. A handling robot, comprising: a mobile chassis,the mobile chassis comprising: a base; and a driving wheel component,the driving wheel component comprising: a hinge bracket hinged to thebase, the hinge bracket being rotatable about a first axis relative tothe base; a driving wheel mounted to the hinge bracket, the drivingwheel being rotatable about a wheel rotation axis relative to the hingebracket, wherein the first axis is parallel to the wheel rotation axis;and a shock absorber component, wherein the shock absorber componentcomprises: a shock absorber configured to reduce vibration transmittedto the base, wherein the shock absorber is configured to be hinged tothe hinge bracket, the shock absorber being rotatable about a secondaxis relative to the hinge bracket, the second axis being parallel tothe first axis; and an adjusting arm, a first end of the adjusting armbeing hinged to the shock absorber, a second end of the adjusting armbeing hinged to the base, wherein the shock absorber is rotatable abouta third axis relative to the adjusting arm, the third axis beingparallel to the first axis, wherein the adjusting arm is rotatable abouta fourth axis relative to the base, the fourth axis being parallel tothe first axis; a storage shelf mounted to the mobile chassis; ahandling device configured to transport a material to or from thestorage shelf; and a lift component configured to drive the handlingdevice to lift relative to the storage shelf.
 2. The handling robotaccording to claim 1, wherein the mobile chassis comprises two drivingwheel components; wherein during rotation of the hinge bracket about thefirst axis, a spacing between driving wheels of the two driving wheelcomponents remains constant.
 3. The handling robot according to claim 1,wherein the base comprises: a base plate; and a fixing rod provided onan upper surface of the base plate, wherein the second end of theadjusting arm is hinged to the fixing rod.
 4. The handling robotaccording to claim 3, wherein the adjusting arm comprises a stop portionconfigured to abut against the fixing rod.
 5. The handling robotaccording to claim 1, wherein when the adjusting arm is in a state wherethe adjusting arm abuts against the base, the adjusting arm cannotrotate towards a direction relative to the base, and the shock absorberis configured to provide an elastic force to prevent the adjusting armfrom rotating toward another different direction relative to the base.6. The handling robot according to claim 1, wherein the adjusting armand the shock absorber are provided at an included angle.
 7. Thehandling robot according to claim 1, wherein the hinge bracket as awhole is a vertical plate member.
 8. The handling robot according toclaim 1, wherein the storage shelf comprises: two vertical beams; and aplurality of layered plate components distributed at different heights,wherein each of at least two of the plurality of layered platecomponents is wholly supported by the two vertical beams and comprises:a cross beam connected to the two vertical beams and supported by thetwo vertical beams; and a layered plate connected to the cross beam andsupported by the cross beam, the layered plate being configured to placea material, wherein a first end of the layered plate is close to the twovertical beams and a second end of the layered plate is suspended in theair and away from the two vertical beams.
 9. The handling robotaccording to claim 8, wherein the handling device and the plurality oflayered plate components are disposed at different sides of the twovertical beams.
 10. The handling robot according to claim 1, wherein thehandling device comprises: a temporary storage pallet for temporarystorage of the material; a telescopic arm mounted to the temporarystorage pallet, the telescopic arm being configured to extend in asingle direction relative to the temporary storage pallet; and aU-shaped housing.
 11. The handling robot according to claim 1, whereinthe handling device comprises: a handling assembly bracket configured tomove upwards or downwards; and a handling assembly mounted to thehandling assembly bracket, the handling assembly being rotatablerelative to the handling assembly bracket, the handling assembly beingconfigured to transport the material; wherein the handling assembly isprovided with a first locking hole, and the handling assembly bracket isprovided with a second locking hole; wherein a locking pin is able tosimultaneously insert into the first locking hole and the second lockinghole, so that the handling assembly is not rotatable relative to thehandling assembly bracket in a state where the locking pin issimultaneously inserted into the first locking hole and the secondlocking hole.
 12. A mobile chassis, comprising a base and a drivingwheel component, the driving wheel component comprising: a hinge brackethinged to the base; a driving wheel mounted to the hinge bracket; and ashock absorber component; wherein the shock absorber componentcomprises: a shock absorber configured to reduce vibration transmittedto the base, wherein the shock absorber is configured to be hinged tothe hinge bracket; and an adjusting arm, a first end of the adjustingarm being hinged to the shock absorber, a second end of the adjustingarm being hinged to the base.
 13. The mobile chassis according to claim12, wherein the mobile chassis comprises two driving wheel components;wherein during rotation of the hinge bracket about a first axis relativeto the base, a spacing between driving wheels of the two driving wheelcomponents remains constant.
 14. The mobile chassis according to claim12, wherein the base comprises: a base plate; and a fixing rod providedon an upper surface of the base plate, wherein the second end of theadjusting arm is hinged to the fixing rod.
 15. The mobile chassisaccording to claim 14, wherein the adjusting arm comprises a stopportion configured to abut against the fixing rod.
 16. The mobilechassis according to claim 12, wherein when the adjusting arm is in astate where the adjusting arm abuts against the base, the adjusting armcannot rotate towards a direction relative to the base, and the shockabsorber is configured to provide an elastic force to prevent theadjusting arm from rotating toward another different direction relativeto the base.
 17. The mobile chassis according to claim 12, wherein theadjusting arm and the shock absorber are provided at an included angle.18. The mobile chassis according to claim 12, wherein an angle betweenthe adjusting arm and the shock absorber is changeable.
 19. The mobilechassis according to claim 12, wherein the hinge bracket as a whole is avertical plate member.
 20. The mobile chassis according to claim 12,wherein the mobile chassis is disposed on a ground, wherein the drivingwheel is configured to be out of contact with the ground.
 21. The mobilechassis according to claim 12, wherein the hinge bracket is rotatableabout a first axis relative to the base, the driving wheel beingrotatable about a wheel rotation axis relative to the hinge bracket,wherein the first axis is parallel to the wheel rotation axis; whereinthe shock absorber is rotatable about a second axis relative to thehinge bracket, wherein the second axis is parallel to the first axis;wherein the shock absorber is rotatable about a third axis relative tothe adjusting arm, the third axis being parallel to the first axis;wherein the adjusting arm is rotatable about a fourth axis relative tothe base, the fourth axis being parallel to the first axis.